Intelligent robot suitable for variable-diameter pipeline

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Intelligent robot suitable for variable-diameter pipeline

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ZHOU SHOUQIN / ZHAO GAOMING / LEI GAOPAN / WANG CAN

The intelligent robot comprises a clamping device, a self-locking device, an advancing device and an upper and lower hoop type structure composed of a front frame and a rear frame, and the upper and lower hoop type structures are the same and are connected through a connecting rod. A clamping device lead screw motor provides transverse force for a lower sliding block matched with the clamping device lead screw motor, and the lower sliding block horizontally moves left and right on a base to drive an upper sliding block meshed with the lower sliding block to conduct clamping and loosening operation. The advancing device is fixedly matched with the upper sliding block, clamping force provided by the clamping device is transmitted to the advancing device, and therefore the pipeline is clamped. Driving wheels of the advancing device are driven by a motor, forward driving force is given to the driving wheels, advancing of the pipe climbing robot outside the pipe, operation on a variable-diameter pipeline and the clamping function on different pipe diameters are achieved, and the pipe climbing robot has high obstacle crossing capacity and bearing capacity.

本发明提供了一种适用于可变径式管道的智能机器人，包括夹紧装置、自锁装置、行进装置和由前车架与后车架组成的上下抱箍式结构，所述上下抱箍式结构相同，且通过连杆连接，通过夹紧装置丝杆电机提供一个横向力给与之配合的下滑块，所述下滑块在基座上进行水平左右移动，带动与之啮合的上滑块进行夹紧和松开操作；所述行进装置与上滑块通过固定配合，将夹紧装置提供的夹紧力传递给行进装置，从而实现对管道夹紧；所述行进装置驱动轮上通过电机驱动，给予驱动轮一个向前驱动力，实现管外爬管机器人行进和在变径管道上的运行以及在不同管径上实现夹紧功能，具有较强越障能力和承载能力。